A multi-modal sensing method based on triboelectric nanogenerator and micro thermoelectric generator for reliable grasping of underwater robotic arm

IF 5.2 2区工程技术 Q1 ENGINEERING, MULTIDISCIPLINARY

Measurement Pub Date : 2025-06-14 DOI:10.1016/j.measurement.2025.118147

Changxin Liu, Peihan Huang, Runhe Chen, Haoxuan Che, Guangyi Xing, Yuncong Wang, Zhenyao Ma, Kailin Lei

{"title":"A multi-modal sensing method based on triboelectric nanogenerator and micro thermoelectric generator for reliable grasping of underwater robotic arm","authors":"Changxin Liu, Peihan Huang, Runhe Chen, Haoxuan Che, Guangyi Xing, Yuncong Wang, Zhenyao Ma, Kailin Lei","doi":"10.1016/j.measurement.2025.118147","DOIUrl":null,"url":null,"abstract":"<div><div>The deep-sea region, inaccessible to human beings, is now accessible through the utilization of underwater robotic arms. Due to the complexity and unpredictability of the underwater environment, the robotic arms operating in such conditions must possess higher grasping capabilities. In this study, a multi-modal sensing method based on triboelectric nanogenerator (TENG) and micro thermoelectric generator (MTEG) for reliable grasping of underwater robotic arm is proposed. A theoretical model for multi-modal cooperative sensing is established. A fluid state sensor prototype based on MTEG and a grasping state sensor prototype based on TENG are fabricated. An experiment system for verifying the performance of fluid state and grasping state sensing is established. And the experiment research is conducted. The experiment outcomes demonstrate that the output voltage of the fluid state sensing unit (FS-SU) correlates distinctly with water flow velocity and direction. Concurrently, a posture feedback control method based on FS-SU enhances the operation precision of the robotic arm. The sum of the output voltages of the grasping state sensing unit (GS-SU) demonstrates a positive correlation with the applied pressure. Within the pressure range of 0–4 N, the correlation coefficient is 2.641, and within the range of 4–13 N, the correlation coefficient is 1.089. The difference in output voltages of the GS-SU effectively reflects the relative sliding state between the robotic claw and the object. This method can effectively enhance the operational accuracy and stability of underwater robotic arms. It provides a solution for the automation and intellectualization of underwater tasks.</div></div>","PeriodicalId":18349,"journal":{"name":"Measurement","volume":"256 ","pages":"Article 118147"},"PeriodicalIF":5.2000,"publicationDate":"2025-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Measurement","FirstCategoryId":"5","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0263224125015064","RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, MULTIDISCIPLINARY","Score":null,"Total":0}

引用次数: 0

Abstract

The deep-sea region, inaccessible to human beings, is now accessible through the utilization of underwater robotic arms. Due to the complexity and unpredictability of the underwater environment, the robotic arms operating in such conditions must possess higher grasping capabilities. In this study, a multi-modal sensing method based on triboelectric nanogenerator (TENG) and micro thermoelectric generator (MTEG) for reliable grasping of underwater robotic arm is proposed. A theoretical model for multi-modal cooperative sensing is established. A fluid state sensor prototype based on MTEG and a grasping state sensor prototype based on TENG are fabricated. An experiment system for verifying the performance of fluid state and grasping state sensing is established. And the experiment research is conducted. The experiment outcomes demonstrate that the output voltage of the fluid state sensing unit (FS-SU) correlates distinctly with water flow velocity and direction. Concurrently, a posture feedback control method based on FS-SU enhances the operation precision of the robotic arm. The sum of the output voltages of the grasping state sensing unit (GS-SU) demonstrates a positive correlation with the applied pressure. Within the pressure range of 0–4 N, the correlation coefficient is 2.641, and within the range of 4–13 N, the correlation coefficient is 1.089. The difference in output voltages of the GS-SU effectively reflects the relative sliding state between the robotic claw and the object. This method can effectively enhance the operational accuracy and stability of underwater robotic arms. It provides a solution for the automation and intellectualization of underwater tasks.

查看原文本刊更多论文

基于摩擦电纳米发电机和微热电发电机的水下机械臂可靠抓取多模态传感方法

人类无法进入的深海区域，现在可以通过水下机械臂的使用而进入。由于水下环境的复杂性和不可预测性，在这种条件下工作的机械臂必须具有更高的抓取能力。提出了一种基于摩擦纳米发电机（TENG）和微热电发电机（MTEG）的水下机械臂可靠抓取多模态传感方法。建立了多模态协同传感的理论模型。制作了基于MTEG的流体状态传感器原型和基于TENG的抓取状态传感器原型。建立了验证流体状态和抓取状态感知性能的实验系统。并进行了实验研究。实验结果表明，流体状态传感单元（FS-SU）的输出电压与水流速度和方向有明显的相关性。同时，基于FS-SU的姿态反馈控制方法提高了机械臂的操作精度。抓取状态传感单元（GS-SU）的输出电压总和与施加的压力呈正相关。在0 ~ 4 N压力范围内，相关系数为2.641，在4 ~ 13 N压力范围内，相关系数为1.089。GS-SU输出电压的差异有效地反映了机器人爪与物体之间的相对滑动状态。该方法可有效提高水下机械臂的操作精度和稳定性。它为水下作业的自动化、智能化提供了一种解决方案。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

Measurement 工程技术-工程：综合

CiteScore

10.20

自引率

12.50%

发文量

1589

审稿时长

12.1 months

期刊介绍： Contributions are invited on novel achievements in all fields of measurement and instrumentation science and technology. Authors are encouraged to submit novel material, whose ultimate goal is an advancement in the state of the art of: measurement and metrology fundamentals, sensors, measurement instruments, measurement and estimation techniques, measurement data processing and fusion algorithms, evaluation procedures and methodologies for plants and industrial processes, performance analysis of systems, processes and algorithms, mathematical models for measurement-oriented purposes, distributed measurement systems in a connected world.